A Simple and Compliant Force Sensing Palm for the MLab Simple Hand

Garth Zeglin, Alberto Rodriguez, and Matthew T. Mason
IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013.


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Abstract
Sensing the forces applied to the palm of a robot manipulator requires robust compliant sensors guarded against collision. The force sensing palm for the MLab Simple Hand measures three components of net contact force in a simple robust design using flexure springs and optical position sensing. The hand is calibrated in an automatic process. Measurements are included to compare performance to the theoretical model.

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab
Associated Project(s): Simple Hands

Text Reference
Garth Zeglin, Alberto Rodriguez, and Matthew T. Mason, "A Simple and Compliant Force Sensing Palm for the MLab Simple Hand," IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013.

BibTeX Reference
@inproceedings{Zeglin_2013_7440,
   author = "Garth Zeglin and Alberto Rodriguez and Matthew T. Mason",
   title = "A Simple and Compliant Force Sensing Palm for the MLab Simple Hand",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA 2013)",
   month = "May",
   year = "2013",
}